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Where the wiper arms attach at the base of the windshield, look on the side of the wiper arm for a small lock that can be pulled out with a small screwdriver, lift the wiper arm and slide the lock out as you release the wiper arm which should now stay in the raised position, slide the wioer arm off the shaft where the arm is attached.
Open the rear window and push the arm past its usual position against the window. It may restore the the tension. However, You likely need a new wiper arm, you could also try lubricating the pivot point.
First, pull on the wiper arm until it raises and locks into the service position. The wiper arm will stand by itself once you raise it past a certain point.
Then find the clip on the underside of the wiper arm (rotate the blade slightly to get to it.
Press the clip in while simultaneously pulling the old wiper blade off the wiper arm. You can then discard the old blade.
Align the new wiper blade with the wiper arm track. Slide it along the track until you hear it click.
Repeat this process with the other wiper blade to complete the replacement of wiper blades on your Highlander.
Return the wiper arms to their normal position against the windshield. Done!
Yes you can adjust them yourself. First you need to check that the wiper arms are not bent. If not, remove the cap at the wiper arm base, under it u will find a nut, remove this nut. you should now be able to remove the wiper arm. (it is comon for caravan wiper arms to be corroded on. If the arm dosen't come off, you may need to heat up the wiper arm with a propane torch. be careful not to melt the plastic cowel under the arm. OR you can use a wiper puller or a battery puller. do not force it, you can break the arm, DO NOT PRY AGAINST THE COWEL OR WINDSHIELD.
Once both arms are off, turn your van on and turn the wipers on. watch the wiper posts, turn the wipers off and watch the wiper posts return and stop in the "parked" position. Turn the van off. Install the passanger wiper arm first, it is positioned closest to the bottom an inch or two above the black cowel. It should be parrallel to the cowel. next install the drivers side wiper arm. it is positioned about 4 inches above the passanger wiper. again running parrallel to the cowel and passanger wiper. tighten the lock nuts down (do not over tighten) wet down your windshield with glass cleaner or windshield washer fluid and test wipers. If they still hit you can lower the passanger one a little or raise the drivers one a little (careful you don't raise the drivers one too much or it will 'jump' off the windshield at the top of the wipe).
good luck, hope this helps.
If you look at the wiring loom it comes out of the bulkhead just below the wiper motor, here you will find that there are worn wires due to the wiper arm rubbing, these will have effect in short circuiting the system, reset with vehicle electrician.
the wirpers are connected to a shaft. the shaft is connected to a motor. The shaft must have turned and wipers were stuck and didn't move. So you will need to pull of each wiper arm and reposition with wipers turned off.
I had the same problem in my LW200. As the other poster indicated a new wiper motor will do the trick. This is an easy fix. Remove the wiper arms, pry up the plastic center cap and remove the nuts holding the arms down then pull them off. A soft prying nudge from underneath will help as they are splined shafts. Raise the hood, put a large deep well socket on over the splined shafts and remove the 2 large nuts holding the trim panel on. Pull up and off the long rubber which runs along the front of the trim panel, watch there is a sharp edge underneath. Now you can gently pull off the trim panel, remembering to lift it over the splined shafts. Mechanism is right there, remove 3 screws and unplug wiring. Take wiper motor off the linkage swap with a new one at advance auto, about 100 bucks, reinstall in reverse order. Note there is a stamping on the linkage telling you where the pivot arm should be for the rest or stopped position and if you ignore that your wipers will be out of whack. While you are in there you may want to change the cabin air filter as well.